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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef CLEAR_COSTMAP_RECOVERY_H_
#define CLEAR_COSTMAP_RECOVERY_H_

#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>

namespace clear_costmap_recovery
{
/**
 * @class ClearCostmapRecovery
 * @brief A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region.
 */
class ClearCostmapRecovery : public nav_core::RecoveryBehavior
{
public:
    /**
     * @brief  Constructor, make sure to call initialize in addition to actually initialize the object
     * @param
     * @return
     */
    ClearCostmapRecovery();

    /**
     * @brief  Initialization function for the ClearCostmapRecovery recovery behavior
     * @param tf A pointer to a transform listener
     * @param global_costmap A pointer to the global_costmap used by the navigation stack
     * @param local_costmap A pointer to the local_costmap used by the navigation stack
     */
    void initialize(std::string name, tf2_ros::Buffer *tf,
                    costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap);

    /**
     * @brief  Run the ClearCostmapRecovery recovery behavior. Reverts the
     * costmap to the static map outside of a user-specified window and
     * clears unknown space around the robot.
     */
    void runBehavior();

private:
    void clear(costmap_2d::Costmap2DROS *costmap);
    // 保留机器人周围以reset_distance_为边长的矩形区域，将其余区域的cell都设置为未知。
    void clearMap(boost::shared_ptr<costmap_2d::CostmapLayer> costmap, double pose_x, double pose_y);

    costmap_2d::Costmap2DROS *global_costmap_, *local_costmap_;
    std::string name_;
    tf2_ros::Buffer *tf_;
    bool initialized_;
    bool force_updating_; ///< force costmap update after clearing, so we don't need to wait for update thread
    double reset_distance_;
    bool invert_area_to_clear_; // 是否反转区域以清除
    std::string affected_maps_; ///< clear only local, global or both costmaps
    std::set<std::string> clearable_layers_; ///< Layer names which will be cleared.
};
};
#endif
